Fixes for plan repair #168
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The HDDL domains that are generated in plan repair for rewrite sometimes violate the normal constraint that all nodes be ground. Note: This should probably be fixed, but might happen only at the cost of making the resulting domains much less efficient to plan. Changes here allow this normal constraint to be overridden, but note that if we do, the resulting HDDL plans might count as ill-formed to a verifier. Also add a new `find-all-tree-nodes-if` to the PLAN-TREE (enhanced plan tree) package.
Now we load all the problems and insert them into a single problem set after loading. Did this to support testing the enhanced plan tree (and additional modifications in the current feature branch).
Have been using this as a crude way to copy trees and plans (for HDDL generation) and found it was quite badly buggy.
There were some cases where parameters were not properly bound top-down.
Pulled a large number of loops, etc. out of too-large functions for more understandable code.
Many print statements, etc. Saving before I remove them.
Did not return the proper value when the task was not ground and handled by `:warn` or `:ignore`.
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Miscellaneous fixes, notably to HDDL format plan generation, needed for plan repair experiments to work.